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Matrix3.h

/*
  File: Matrix3.h

  Copyright(C) C. Kotterink, Computed Graphics
*/
#ifndef MATRIX3_H
#define MATRIX3_H

#include<Vertex3.h>

#include<real.h>
#include<iostream.h>

class Quaternion;
class Matrix4;
class ObjectFile;

// Matrix representation is transposed
#define INDEX3(r, c) (c*3 + r)

class Matrix3
{
    friend Matrix4;
    friend ostream &operator<<(ostream &stream, Matrix3 &m);
    friend ObjectFile &operator>>(ObjectFile &f, Matrix3 &m);
private:
    class MatrixRow {
    public:
        MatrixRow(real *d, unsigned int r) : m(d), row(r) {}
        real &operator [](unsigned int col) {
            m[INDEX3(row, col)];
        }
    private:
        unsigned int row;
        real *m;
    };
public:
    // Constructors
    Matrix3() {};
    Matrix3(const Matrix3 &m) {
        memcpy(this, &m, sizeof(Matrix3));
    }
    void identity();
    void transpose();
    void rotate(Vertex3 &a, real alpha);
    // Contruct a matrix from Camera to World coordinates
    // up and dir must be normalized!
    void construct(Vertex3 &up, const Vertex3 &dir);

    // Get
    MatrixRow operator [](unsigned int row) {
        MatrixRow r(m, row);
        return r;
    }
    const real *data() const { return m; }

    // Assignment operators
    Matrix3 &operator =(const Matrix3 &right) {
        memcpy(this, &right, sizeof(Matrix3));
        return *this;
    }
    Matrix3 &operator =(const Quaternion &q);
    void operator *=(const Matrix3 &right);

    // Operators
    Matrix3 operator *(const Matrix3 &right) const;
    Vertex3 operator *(const Vertex3 &v) const;
    Matrix3 operator ~() const {
        Matrix3 m(*this);
        m.transpose();
        return m;
    }

    real det() const;
    Quaternion quaternion();

    // Fast 3D Transfomations, righthanded
    Vertex3 apply(const Vertex3 &v) const {
        return *this * v;
    }
    Vertex3 applyInverse(const Vertex3 &v) const;
    void scale(Vertex3 &v);

    void rotate(Vertex3 &v);
    void rotateX(real alpha);
    void rotateY(real alpha);
    void rotateZ(real alpha);

private:
    real m[3*3];
};
#endif

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